Automatic guidance of a four-wheel-steering mobile robot for accurate field operations (2009)
Cariou, C., Lenain, R., Thuilot, B., Berducat, M.
As the world population growth requires an increasing level of farm production while the environment preservation constitutes nowadays a priority, the development of new agricultural tools and...
Cariou, C., Lenain, R., Thuilot, B., Berducat, M.
This paper addresses the problem of path generation and motion control for the autonomous maneuvers of agricultural vehicles in headland. A reverse turn planner is firstly investigated, based on...
High accuracy path tracking of a four wheel steering all terrain vehicle on a slippery slope (2008)
Cariou, C., Lenain, R., Thuilot, B., Berducat, M.
In this paper, automatic path tracking of a four-wheel-steering vehicle in presence of sliding is adressed. The attractive feature of such a steering system is that, despite of sliding phenomena,...
Automatic guidance of a four wheel steering vehicle (2008)
Cariou, C., Lenain, R., Thuilot, B., Berducat, M.
This paper is aimed to present the development of an automatic guidance system dedicated to a four-wheel steering vehicle. The attractive feature is that, despite of sliding phenomena, both lateral...
Bouton, N., Lenain, R., Thuilot, B., Berducat, M.
The growing popularity of quad bikes in the agricultural area is unfortunately accompanied by an increasing number of accidents and particularly lateral rollovers. Then, the estimation of hazardous...
AGENG 2008. Guidage et modélisation des agroéquipements mobiles (2008)
Berducat, M., Bouton, N., Cariou, C.
/ Le congrès AGENG 2008 est un passage important pour les technologies innovantes en machinisme agricole. Les plus porteuses d'avenir pour le pilotage automatique sont explicitées ici par le...
A velocity observer based on friction adaptation (2008)
Lenain, R., Robertsson A., Johansson, R., Shiriaev, A., Berducat, M.
Control of robotic systems subject to friction phenomena is an important issue since growing demands on accuracy require elimination of friction disturbances. If several models - e.g., friction...
Accurate and reliable navigation algorithm for off-road mobile robots (2008)
Lenain, R., Debain, C., Thuilot, B., Chapuis, R., Berducat, M.
The evolution of population needs, together with the necessity of environment preservation, rise important issues related to the way the human production have to progress. It is for instance the case...
ICPA 2008. Point sur l'agriculture de précision aux Etats-Unis (2008)
/ La ville de Denver dans l'Etat du Colorado a accueilli en Juillet 2008, la 9ème conférence internationale sur l'agriculture de précision (ICPA).Cette note résume une enquête du magazine...
ICPA 2008. Nouveaux capteurs "On the go" (2008)
/ La ville de Denver dans l'Etat du Colorado a accueilli en Juillet 2008, la 9eme Conférence sur l'Agriculture de Précision. L'occasion de faire un point sur de nouveaux capteurs disponibles sur le...
ICPA 2008, Nouveaux dispositifs au service de la traçabilité (2008)
/ La ville de Denver dans l'état du Colorado-USA a accueilli en juillet 2008 la 9eme conférence internationale sur l'Agriculture de Précision. Cette note s'intéresse plus particulièrement aux...
Développement d'un indicateur de risque de renversement destiné au véhicules tout-terrain (2008)
Bouton, N., Lenain, R., Thuilot, B., Berducat, M.
/ Le renversement latéral apparaît comme étant la cause principale des accidents de véhicules légers tout-terrain (quads) dans le milieu agricole. Par conséquent l'estimation et la prédiction...
L. Cordesses, P. Martinet, B. Thuilot, M. Berducat
Abstract: An accurate localization system (Carrier Phase differential GPS receiver) allows the design and implementation of an absolute vehicle guidance system. The preliminary work, presented in...
Automatic Guided Vehicles in Agricultural and Green Space Fields (2007)
P. Martinet, P. Bonton, J. Gallice, M. Berducat, C. Debain, R. Rouveure
Working on new equipments to increase agricultural productivity and safety, reducing human action hardness, Cemagref and Lasmea have developed an help guidance system for agricultural vehicles. The...
Lenain, R., Robertsson, A., Johansson, R., Shiriaev, A., Berducat, M.
This paper addresses the problem of velocity reconstruction of robotic systems with rigid-body dynamics subject to friction. The aim of this paper is to estimate the velocities in the joint of a...
ECPA 2007. Communications sans fil (2007)
/ Les technologies sans fil dans le secteur agricole connaitront dans les 10 prochaines années l'essor que le GPS a atteint dans le secteur routier. Les besoins grandissants en information, des...
ECPA 2007. Adoption et perspectives de l'agriculture de précision (2007)
/ Divers obstacles freinent la diffusion massive de l'agriculture de précision. L'étude de l'Université de Bochum montre que les perspectives passent par la poursuite du développement des...
A new landmark and sensor selection method for vehicle localization and guidance (2007)
Tessier, C., Berducat, M., Chapuis, R., Chausse, F.
Markov localization is one of the effective techniques for determining the physical locations of an autonomous vehicle whose behavior is nondeterministic and the perceptions of the environment are...
Characterization of feature detection of algorithms for a reliable vehicle localization (2007)
Tessier, C., Berducat, M., Chapuis, R., Bonnet, S.
To guide a vehicle, the localization system must provide an accurate and reliable estimation. Generally, the estimation of the vehicle's state is dealt with a Bayesian approach like a Kalman filter....
Lenain, R., Thuilot, B., Cariou, C., Martinet, P., Berducat, M., Chapuis, R., ...
/ L'hypothèse de roulement sans glissement est fréquemment utilisée pour le suivi de trajectoire de robots mobiles. Malheureusement, celle-ci n'est valide pour les véhicules évoluant en milieu...
Optimization-based approach for a better centrifugal spreading (2006)
Virin, T., Koko, J., Piron, E., Martinet, P., Berducat, M.
The use of centrifugal spreaders for application of granular fertilizers raises concern about application accuracy. These spreaders enable to distribute almost uniform deposits with regularly spaced...
Application of optimization techniques for an optimal fertilization by centrifugal spreading (2006)
Virin, T., Koko, J., Piron, E., Martinet, P., Berducat, M.
Mineral fertilizers application is an agricultural task widely performed by centrifugal spreaders. These machines give satisfying results with regularly spaced parallel tractor trajectories but lead...
Spatial optimization of fertilizer application by centrifugal spreading (2006)
Virin, T., Koko, J., Piron, E., Martinet, P., Berducat, M.
We study an approach for the optimization of spreading performed by centrifugal spreaders in order to minimize environmental effects due to application errors. Faced with a large scale problem, we...
Virin, T., Piron, E., Koko, J., Martinet, P., Berducat, M.
Centrifugal spreaders are very popular for application of granular fertilizers. Nevertheless, their use raises issues about application accuracy. Indeed, they enable to distribute almost uniform...
Spatial optimization of fertilizer application by a centrifugal spreader (2005)
Virin, T., Piron, E., Koko, J., Martinet, P., Berducat, M.
Fertilisation practice using centrifugal spreaders generally consists in the mass flow rate regulation thanks to the simple mathematicl relation D=Q.L.V/600 where Q is the prescribed fertilization...
Boffety, D., Chanet, J.P., Berducat, M.
/ Le développement de solutions de communication sans fil dans le machinisme agricole est directement lié à l'évolution des besoins des exploitations agricoles. Soumises à davantage de...
Adaptive and predictive control for off-road mobile robots path tracking (2005)
Lenain, R., Thuilot, B., Berducat, M., Martinet, P.
If the development of algorithms dedicated for path tracking control of mobile robots is a well-known problem under the rolling without sliding condition (for vehicles moving on road for example),...
Berducat, M., Clavel, P., Chanet, J.P.
/ Cette note de veille s'attachera à décrire différents produits identifiés au gré des stands mettant en uvre des systèmes de communications sans fil, en relation principalement avec la...
Arvis, V., Debain, C., Berducat, M., Benassi, A.
Three different approaches to colour texture analysis are tested on the classification of images from the VisTex and Outex databases. All the methods tested are based on extensions of the...
Lenain, R., Berducat, M., Cariou, C.
Many agricultural works (sowing, spreading~) require a very precise guidance (about few centimetres in lateral error). Developments showed that the kinematic GPS was a relevant sensor to carry out a...
Automatic guidance of farm vehicles relying on a RTK GPS (2003)
Cariou, C., Berducat, M., Lenain, R., Thuilot, B.
Precision agriculture involves very accurate farm vehicle control along recorded paths, which are not necessarily straight lines. In this paper, we investigate the possibility of automatically...
Guidage automatique d'un engin agricole par GPS cinématique (2003)
Cariou, C., Thuilot, B., Martinet, P., Berducat, M.
Driving agricultural vehicles during works such as sowing, pulverization or spreading, requests a particular care from the farmer. The required guidance precision creates the coming of a general and...
Chanet, J.P., Frencia, J.P., Berducat, M.
This report presents a method of identification of the MBM using the pyranine, also its valisation in an industrial environment is done. / Ce rapport présente une méthode d'identication des farines...
Wiart, J., Berducat, M., Soulignac, V.
This spreading is the preferable way of recovering livestock farming effluents and agricultural exogenous waste, from an environmental as well as an economic point of view. The social acceptability...
Berducat, M., Soulignac, V., Thirion, F., Devaux, J.F.
GPS system to monitoring effluent spreading of sludge from water treatment plants can participate to a better and durable credibility of farm recycling networks. This device contstitutes a concrete...
Automatic guidance of a farm tractor relying on a single CP-DGPS (2002)
Thuilot, B., Cariou, C., Martinet, P., Berducat, M.
Precision agriculture involves very accurate farm vehicle control along recorded paths, which are not necessarily straight lines. In this paper, we investigate the possibility of achieving this task...
Chanet, J.P., Frencia, J.P., Beaudoing, G., Berducat, M.
For the by-products resulting from ruminant, the French regulation imposes the following constraints: I) separation of specified risk materials from the materials which can be used for animals feed,...
Chanet, J.P., Francia, J.P., Berducat, M.
Within the framework of the research program ACC N°4 financed by the DGAL, the CEMAGREF, the ADIV and the CEA developed a method of marking per tracer and detection of the matters at the risks...
A guidance-assistance system for agricultural vehicles (2000)
Debain, C., Chateau, T., Berducat, M., Martinet, P., Bonton, P.
In this article, we present different works we have done on a guidance-assistance system for two agricultural vehicles. We show different difficulties found in our projects. Firstly the environment...
Caractérisation du rendement et de la qualité de la récolte (2000)
This article, though works realized in Europe and USA, raises questions about errors and precautions to take into account, in order to obtain corrects yield maps with combine harvesters. It presents...
Guidage d'un engin agricole par CP-DGPS : comparaison de deux estimateurs d'orientation (2000)
Cordesses, L., Cariou, C., Berducat, M.
Mobile robots control is a classic problem in the robot community. We adress the problem of farm vehicle control using a single CP-DGPS receiver, without any heading sensor or attitude measurement...
Farm vehicle guidance using CP-GDGPS: two heading estimators comparison (2000)
Cordesses, L., Cariou, C., Martinet, P., Berducat, M.
Mobile robots control is a classic problem in the robot community. We adress the problem of farm vehicle control using a single CP-DGPS receiver, without any heading sensor or attitude measurement...
Guidage par CP-DGPS d'une moissonneuse-batteuse sur monde plan (2000)
Cordesses, L., Cariou, C., Thibaud, C., Berducat, M.
Mobile robot control is a classic problem in the robotic community. We address the problem of a combine harvester control using a single CP-DGPS receiver, without any heading sensor or attitude...
Chanet, J.P., Frencia, J.P., Beaudoing, G., Berducat, M.
Work carried out thus started from the assumption that, in order to obtain a perfect separation of the SRM, it is necessary to have a marker who can be applied at the slaughterhouse and which can be...
Gestion de l'information parcellaire - cartographie du rendement à la récolte (2000)
This article, through works realized in Europe and USA, gives errors and precautions to take into account, in order to obtain corrects yield maps with combine harvesters. It presents also some...
Combine harvester control using real time kinematic GPS (2000)
Cordesses, L., Cariou, C., Berducat, M.
An accurate vehicle guidance system is required for some precision agriculture operations. It can be used for high speed direct seeding on a farm tractor. Such a system also ensures neither...
Combine harvester control using real time kinematic GPS (1999)
Cordesses, L., Cariou, C., Berducat, M.
The need for an accurate vehicle guidance system has arisen with the advent of precision agriculture. Automatic path following in fields is a great problem. Many vehicle guidance systems have been...
GPS-Based control of a land vehicle (1999)
Cordesses, L., Martinet, P., Thuilot, B., Berducat, M.
An accurate localization system (Carrier Phase Differential GPS receiver) allows the design and implementation of an absolute vehicle guidance system. The preliminary work, presented in this paper,...
AGV for agricultural and green space field (1997)
Philippe Martinet, P. Bonton, J. Gallice, D. Khadraoui, Cemagref Clermont-ferrand, M. Berducat, ...
Contents 1 Introduction 4 2 About the vision aspect 8 2.1 Introduction : : : : : : : : : : : : : : : : : : 8 2.2 Our Approach : : : : : : : : : : : : : : : : : 10 3 AGV in green space environment 13...
Chateau, T., Berducat, M., Bonton, P.
We present an application of help guidance system for agricultural vehicle. This is a vision base approach which uses both luminance and texture parameters computing from the image in order to guide...
Chateau, T., Berducat, M., Bonton, P.
Real time vision systems in an outdoor environment involve an increase of the algorithm complexity in order to solve the application with an acceptable autonomy. In our application of help guidance...
Help guidance for agricultural vehicle using a vision system (1997)
Chateau, T., Berducat, M., Bonton, P.
This paper deals with a data fusion based approach to detect the reap limit by artificial vision into agricultural domain with an estimation of a quality criteria. The outdoor vision based...
Chateau, T., Berducat, M., Alizon, J., Bonton, P., Collange, F.
We present a data fusion method used in order to control the reliability of the estimation of an interface between a mowed and an unmowed zone in order to guide an agricultural vehicle. This is a...
Berducat, M., Devaux, J.F., Poirier, J.P.
Procedure of repetitive tasks automation on engines such as agricultural tractors comprises steps of action memorisation of driver then modelling of these actions when the driver gives the order....
A visual servoing approach to control agricultural mobile machines (1995)
Debain, C., Khadraoui, D., Berducat, M., Martinet, P., Bonton, P.
We present experimental results of a visual servoing approach to control an agricultural mobile machine. To detect the limit between mowed and unmowed natural zones, we use an original region...
Derras, M., Verrat, L., Berducat, M., Bonton, P.
The aim of this project consists in the design of an help guidance system for an auto-propelled mower. We want to illustrate the fact that in a natural environment we need to use lots of different...
Vision based control low for agricultural machines (1995)
Khadraoui, D., Debain, C., Martinet, P., Berducat, M., Gallice, J.
In this paper we present a method of vision based control for agricultural machine, used to mow a vegetation. The problem we plan to resolve is the servoing task accomplishment by using visual...
Segmentation texturale originale. Analyse et parallélisation temps réel (1994)
Derras, M., Berducat, M., Bonton, P., Gallice, J., Naudet, S.
In this article, we present an original region segmentation based on a non-supervised Markov modelling of a series of sites. Each site (representing an area of 16.16 pixels) is characterized by two...
La vision au service du guidage d'un engin d'entretien des espaces naturels (1994)
Berducat, M., Derras, M., Bonton, P.
The aim of this article is to present the feasibility of a vision help guidance system embedded on an upkeep machine of naturel environments. This system only uses the quality of detection of rap...
Segmentation texturale régions - paramètre fractal - modélisation markovienne (1994)
Derras, M., Berducat, M., Bonton, P.
In this article, we are presenting an original segmentation into regions based on an unsupervized markovian modelling of a set of sites. Each site (representing an elementary region of 16.16 pixels)...
Derras, M., Debain, C., Berducat, M., Bonton, P., Gallice, J.
An original image segmentation based on a markovian modeling of a set of four parameters is presented. The application performed demonstrates the strengh of an algorithm using texture analysis of...
Unsupervised regions segmentation: a self-guidange system for the agricultural equipments (1994)
Derras, M., Debain, C., Berducat, M., Bonton, P., Gallice, J.
An original image segmentation based on a markovian modeling of a set of four parameters is presented. The application performed demonstrates the strengh of an algorithm using texture analysis of...
DERRAS, M., BERDUCAT, M., BONTON, P., GALLICE, J., CANALS, R.
Dans cet article, nous présentons une segmentation originale en régions basée sur une modélisation markovienne non supervisée d'un ensemble de sites. Chaque site (représentant une région...
Derras, M., Berducat, M., Bonton, P., Gallice, J.
In this article, we present an original region segmentation based on a non-supervised Markov modelling of a series of sites. Each site (representing an area of 16.16 pixels) is characterized by two...
Guidage d'un engin d'entretien d'espaces naturels par traitement d'images (1993)
The development of an image processing guidance system mounted on a machine for maintaining uncultivated land is described. Two approaches are described : the first is based on a graph of grey level...
Vision guided mower for the upkeep of natural environment (1992)
Derras, M., Berducat, M., Bonton, P.
The present project aims at developing an artificial vision help guidance system on a self propelled radio-commanded machine. To achieve this goal a conceivable solution consists in a positionning...
Tondeuse guidée par vision pour l'entretien des espaces naturels (1991)
Derras, M., Berducat, M., Bonton, P.
The objective of this project is to define a way to assist radiocontrolled machinery. To achieve this goal, one solution is to position oneself with regard to a reference line represented by a...